i created a robot description robot.urdf when it display in rviz all is shown good but there was no wheels in the rviz just the base link and sensor

<?xml version="1.0" ?> <!-- =================================================================================== --> <!-- | This document was autogenerated by xacro from robot.xacro | --> <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> <!-- =================================================================================== --> <robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro"> <link name="base_link"> <visual> <geometry> <box size="0.64 0.45 0.03"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <link name="wheel_front_left"> <visual> <geometry> <cylinder length="0.03" radius="0.1"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.015"/> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> </link> <link name="wheel_front_right"> <visual> <geometry> <cylinder length="0.03" radius="0.1"/> </geometry> <origin rpy="0 0 0" xyz="0 0 -0.015"/> <material name="black"/> </visual> </link> <link name="wheel_back_left"> <visual> <geometry> <cylinder length="0.03" radius="0.1"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.015"/> <material name="black"/> </visual> </link> <link name="wheel_back_right"> <visual> <geometry> <cylinder length="0.03" radius="0.1"/> </geometry> <material name="black"/> <origin rpy="0 0 0" xyz="0 0 -0.015"/> </visual> </link> <link name="laser"> <visual> <geometry> <box size="0.06 0.28 0.04"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="green"> <color rgba="0 0.9 0 1"/> </material> </visual> </link> <joint name="base_to_front_left" type="continuous"> <parent link="base_link"/> <child link="wheel_front_left"/> <origin rpy="-1.570796327 0 0" xyz="0.17 0.225 0"/> <axis rpy="0 0 0" xyz="0 0 1"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <joint name="base_to_front_right" type="continuous"> <parent link="base_link"/> <child link="wheel_front_right"/> <origin rpy="-1.570796327 0 0" xyz="0.17 -0.225 0"/> <axis rpy="0 0 0" xyz="0 0 1"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <joint name="base_to_back_left" type="continuous"> <parent link="base_link"/> <child link="wheel_back_left"/> <origin rpy="-1.570796327 0 0" xyz="-0.17 0.225 0"/> <axis rpy="0 0 0" xyz="0 0 1"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <joint name="base_to_back_right" type="continuous"> <parent link="base_link"/> <child link="wheel_back_right"/> <origin rpy="-1.570796327 0 0" xyz="-0.17 -0.225 0"/> <axis rpy="0 0 0" xyz="0 0 1"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <joint name="base_to_laser" type="fixed"> <parent link="base_link"/> <child link="laser"/> <origin rpy="0 0 0" xyz="0.32 0 0.04"/> </joint> </robot>

asked 28 Feb '18, 15:41

abdelkrim.abanay%40gmail.com's gravatar image

abdelkrim.ab...
01
accept rate: 0%

edited 01 Mar '18, 20:11

marcoarruda's gravatar image

marcoarruda ♦♦
1764


Hello,

I could reproduce your problem and there's another question that looks like to your doubt. Please, take a look here: http://forum.theconstructsim.com/questions/1031/robot-creation-with-urdf-meshes-not-loading-on-gazebo

The problem is that you haven't added the inertia to the links. It's explained in our URDF course.

Cheers

permanent link

answered 01 Mar '18, 20:22

marcoarruda's gravatar image

marcoarruda ♦♦
1764
accept rate: 19%

thank you very much i solved my issues :)

permanent link

answered 06 Mar '18, 11:11

abdelkrim.abanay%40gmail.com's gravatar image

abdelkrim.ab...
01
accept rate: 0%

Your answer
toggle preview

Follow this question

By Email:

Once you sign in you will be able to subscribe for any updates here

By RSS:

Answers

Answers and Comments

Markdown Basics

  • *italic* or _italic_
  • **bold** or __bold__
  • link:[text](http://url.com/ "title")
  • image?![alt text](/path/img.jpg "title")
  • numbered list: 1. Foo 2. Bar
  • to add a line break simply add two spaces to where you would like the new line to be.
  • basic HTML tags are also supported

Question tags:

×4
×2

question asked: 28 Feb '18, 15:41

question was seen: 931 times

last updated: 06 Mar '18, 11:11

powered by OSQA